AUV Adaptive Sampling Methods: A Review

Autonomous underwater vehicles (AUVs) are unmanned marine robots that have been used for a broad range of oceanographic missions. They are programmed to perform at various levels of autonomy, including autonomous behaviours and intelligent behaviours. Adaptive sampling is one class of intelligent be...

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Published inApplied sciences Vol. 9; no. 15; p. 3145
Main Authors Hwang, Jimin, Bose, Neil, Fan, Shuangshuang
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.08.2019
Subjects
adaptive sampling
Automation
autonomous underwater vehicle(s)
Autonomous underwater vehicles
Behavior
in-situ sensors
maritime robotics
Oceans
Robotics
Robots
sensor fusion
Sensors
underwater feature tracking
Vehicles
United States > US
Online AccessGet full text
ISSN2076-3417
2076-3417
DOI10.3390/app9153145

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Abstract Autonomous underwater vehicles (AUVs) are unmanned marine robots that have been used for a broad range of oceanographic missions. They are programmed to perform at various levels of autonomy, including autonomous behaviours and intelligent behaviours. Adaptive sampling is one class of intelligent behaviour that allows the vehicle to autonomously make decisions during a mission in response to environment changes and vehicle state changes. Having a closed-loop control architecture, an AUV can perceive the environment, interpret the data and take follow-up measures. Thus, the mission plan can be modified, sampling criteria can be adjusted, and target features can be traced. This paper presents an overview of existing adaptive sampling techniques. Included are adaptive mission uses and underlying methods for perception, interpretation and reaction to underwater phenomena in AUV operations. The potential for future research in adaptive missions is discussed.
AbstractList Autonomous underwater vehicles (AUVs) are unmanned marine robots that have been used for a broad range of oceanographic missions. They are programmed to perform at various levels of autonomy, including autonomous behaviours and intelligent behaviours. Adaptive sampling is one class of intelligent behaviour that allows the vehicle to autonomously make decisions during a mission in response to environment changes and vehicle state changes. Having a closed-loop control architecture, an AUV can perceive the environment, interpret the data and take follow-up measures. Thus, the mission plan can be modified, sampling criteria can be adjusted, and target features can be traced. This paper presents an overview of existing adaptive sampling techniques. Included are adaptive mission uses and underlying methods for perception, interpretation and reaction to underwater phenomena in AUV operations. The potential for future research in adaptive missions is discussed.
[...]algal blooms in the ocean appear in the horizontal plane at various depths over time. [...]a vertical saw-tooth AUV trajectory is commonly adopted to delineate their vertical migration. [...]the trajectory of the vehicle is determined depending on the distribution of the target in water. [...]the obtained measurements are processed using a certain type of filter as all sensor measurements in robotics are raw, imperfect and subject to errors. [...]onboard analysis capability in modern AUV technology enables sensor readings to be converted into meaningful data values that can be used in decision autonomy.
Author Fan, Shuangshuang
Bose, Neil
Hwang, Jimin
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Snippet Autonomous underwater vehicles (AUVs) are unmanned marine robots that have been used for a broad range of oceanographic missions. They are programmed to...
[...]algal blooms in the ocean appear in the horizontal plane at various depths over time. [...]a vertical saw-tooth AUV trajectory is commonly adopted to...
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SubjectTerms adaptive sampling
Automation
autonomous underwater vehicle(s)
Autonomous underwater vehicles
Behavior
in-situ sensors
maritime robotics
Oceans
Robotics
Robots
sensor fusion
Sensors
underwater feature tracking
Vehicles
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Title AUV Adaptive Sampling Methods: A Review
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